System and method for detecting surface vibrations

ABSTRACT

A system for detecting vibrations from a surface is provided. The system includes a coherent light source for projecting a multi-beam pattern onto the surface and an imaging device for mapping a speckle field generated by each spot formed on the surface by the multi-beam pattern to a unique region of an imaging sensor. The system further includes a processor for processing speckle field information received by the imaging sensor and deriving surface vibration information.

RELATED APPLICATIONS

This application is a Continuation of U.S. patent application Ser. No.15/540,049 filed on Jun. 27, 2017, which is a National Phase of PCTPatent Application No. PCT/IL2015/051255 having International FilingDate of Dec. 27, 2015, which claims the benefit of priority under 35 USC§ 119(e) of U.S. Provisional Patent Application No. 62/097,061 filed onDec. 27, 2014. The contents of the above applications are allincorporated by reference as if fully set forth herein in theirentirety.

FIELD AND BACKGROUND OF THE INVENTION

The present invention relates to a system for detecting vibrations froma remote surface and to a method of using same. Embodiments of thepresent invention relate to a system which utilizes focused speckleimaging to detect vibrations from a remote object or subject.

Devices for measuring surface vibrations of a remote object are known inthe art. For example, Laser Doppler Vibrometers (LDV) measure theDoppler shift of a laser beam reflected from a surface to extract thesurface velocity and determine surface vibrations.

Devices for measuring speckle patterns generated on a surface are alsoutilized for identifying surface vibrations of remote objects. Sincespeckles are characterized by an intensity pattern produced by mutualinterference of a set of wave fronts, typical speckles analysis utilizesout-of-focus speckle images in order to maximize the amount ofinformation that can be obtained from this pattern over time. Defocusedspeckles imaging provides detailed images of the speckles that allowstracking their variation over time to extract surface motion such asrotation, translation and deformation.

Both LDV and speckle analysis approaches suffer from inherentlimitations. With LDVs, rough surfaces generate speckles in thereflected light field that generate random noise in the measurement. Asa result, surfaces measured by LDVs are usually treated to providespecular reflectance when possible. In addition, LDVs are complicateddevices that require an expert for proper operation and utilize laserpower which exceeds eye-safety limitations.

With speckle analysis, the camera frame rate limits the frequency bandof the extracted information. Although speckle analysis approaches canutilize a high-speed camera (tens of KHz), a large number of frames mustbe captured, saved in memory and analyzed limiting real-time performanceand the size of the measurement time window. In addition, in order tocapture meaningful information defocused speckle imaging must cover arelatively large number of pixels. While strong defocusing spreads thelaser spot image over multiple pixels, it results in a substantial dropin light intensity which is compensated for by increasing the power ofthe laser source oftentimes beyond eye safety range.

Although the above solutions can provide quantitative information withrespect to a surface, some applications do not require such quantitativeinformation. For example, various applications in modern life requireautomatic detection of the presence of subjects within an area ofinterest. In such applications, the main requirements are accurateidentification of a subject or subjects without utilizing potentiallyunsafe radiation and not quantitative information regarding a surface.

Thus, it would be highly advantageous to have, a system which can beused to accurately detect a presence and number of subjects in anenvironment without subjecting the subjects to potentially harmfulradiation.

SUMMARY OF THE INVENTION

According to one aspect of the present invention there is provided asystem for detecting vibrations from a surface comprising: (a) acoherent light source for projecting a multi-beam pattern onto thesurface; (b) an imaging device for mapping a speckle field generated byeach spot formed on the surface by the multi-beam pattern to a uniqueregion of an imaging sensor; and (c) a processor for processing specklefield information received by the imaging sensor and deriving surfacevibration information.

According to further features in preferred embodiments of the inventiondescribed below, the imaging device is configured for in-focus mappingof each speckle field formed on the surface by the multi-beam pattern.

According to still further features in the described preferredembodiments the light source is configured for projecting a single beamand the system further includes a beam splitter.

According to still further features in the described preferredembodiments the multi-beam pattern is formed from a plurality ofnon-overlapping non-collimated beams focused onto the surface.

According to still further features in the described preferredembodiments the light source is configured for projecting a plurality ofbeams at a light wavelength longer than 650 nm.

According to still further features in the described preferredembodiments the multi-beam pattern forms a grid on the surface.

According to still further features in the described preferredembodiments the grid is formed by more than 2 beams.

According to still further features in the described preferredembodiments, the grid covers a field-of-view of up to 180 degrees.

According to still further features in the described preferredembodiment, the processor analyzes a light intensity at each uniqueregion of the imaging sensor to thereby detect speckle dynamics.

According to still further features in the described preferredembodiments the imaging device includes an optical filter for filteringout ambient light.

According to still further features in the described preferredembodiments the imaging sensor includes a photodiode or photodiode arrayand each speckles field is mapped to 1-100 pixels of the imaging sensor.

According to still further features in the described preferredembodiments the light source is configured for projecting the multi-beampattern using an optical power of less than 1 milliwatt per beam.

According to still further features in the described preferredembodiments a lens aperture of the light source is selected based on,for example, equations 17-18, 21-22, 27, 30 described hereinbelow.

According to still further features in the described preferredembodiments the light source is configured for projecting the multi-beampattern to a surface 0.1-15 m away.

According to still further features in the described preferredembodiments the processor is further configured for qualifying thesurface based on the surface vibration information.

According to still further features in the described preferredembodiments the system is capable of identifying a human based on thesurface vibration information.

According to still further features in the described preferredembodiments the system is configured for mounting inside a vehicle.

According to still further features in the described preferredembodiments the system is capable of communicating a vehicle occupantcount to an onboard system of the vehicle.

According to another aspect of the present invention there is provided asystem for detecting vibrations from a surface comprising: (a) acoherent light source for projecting a non-collimated beam onto thesurface; (b) an imaging device for mapping a speckle field generated bya spot formed on the surface by the non-collimated beam to a uniqueregion of an imaging sensor; and (c) a processor for processing specklefield information received by the imaging sensor and deriving surfacevibration information.

According to yet another aspect of the present invention there isprovided a system for detecting vibrations from a surface comprising:(a) a coherent light source for projecting a single collimated beam ontothe surface; (b) a photodiode for capturing a speckle field generated bya spot formed on the surface by the collimated beam; and (c) a processorfor processing speckle field information received by the photodiode andderiving surface vibration information from speckle vibrations at anamplitude of 1 μm to 50 cm and a frequency of 1 Hz-100 KHz.

The present invention successfully addresses the shortcomings of thepresently known configurations by providing a system which can be usedto detect subjects and objects in an environment without using lightradiation that exceeds eye safety guidelines.

Unless otherwise defined, all technical and scientific terms used hereinhave the same meaning as commonly understood by one of ordinary skill inthe art to which this invention belongs. Although methods and materialssimilar or equivalent to those described herein can be used in thepractice or testing of the present invention, suitable methods andmaterials are described below. In case of conflict, the patentspecification, including definitions, will control. In addition, thematerials, methods, and examples are illustrative only and not intendedto be limiting.

Implementation of the method and system of the present inventioninvolves performing or completing selected tasks or steps manually,automatically, or a combination thereof. Moreover, according to actualinstrumentation and equipment of preferred embodiments of the method andsystem of the present invention, several selected steps could beimplemented by hardware or by software on any operating system of anyfirmware or a combination thereof. For example, as hardware, selectedsteps of the invention could be implemented as a chip or a circuit. Assoftware, selected steps of the invention could be implemented as aplurality of software instructions being executed by a computer usingany suitable operating system. In any case, selected steps of the methodand system of the invention could be described as being performed by adata processor, such as a computing platform for executing a pluralityof instructions.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The invention is herein described, by way of example only, withreference to the accompanying drawings. With specific reference now tothe drawings in detail, it is stressed that the particulars shown are byway of example and for purposes of illustrative discussion of thepreferred embodiments of the present invention only, and are presentedin the cause of providing what is believed to be the most useful andreadily understood description of the principles and conceptual aspectsof the invention. In this regard, no attempt is made to show structuraldetails of the invention in more detail than is necessary for afundamental understanding of the invention, the description taken withthe drawings making apparent to those skilled in the art how the severalforms of the invention may be embodied in practice.

In the drawings:

FIG. 1 illustrates one embodiment of an optical setup for monitoring thevibrations of a remote surface constructed in accordance with theteachings of the present invention.

FIG. 2 is a statistical model for analyzing the signal of a specklefiled. The arrows indicate the translation of the pattern along the lensaperture.

FIG. 3 is a plot of the system SNR vs. the normalized aperture diameterD′ for l<D; [eq. (22, 23)] for I_τ=1; α=(l/a)̂(1/4); β=(√(a/l)) 2/s;

FIG. 4 illustrates the phase distribution at the area covered by thelaser spot that was used in the numerical analysis (x and y axes are inunits of μm).

FIG. 5 illustrates a calculated speckles field that is translated overthe lens aperture. This field was used for calculating the SNR

FIGS. 6a-b illustrate a plot of Std(ΔI) vs. D′ for l=a=2 mm where l<D inthe whole range (FIG. 6a ). Black dots—simulation results, solidline—statistical model result: y=1.79·

10

̂(−17) √(D′). FIG. 6b is a logarithmic representation of the plot ofFIG. 6 a.

FIG. 7 illustrates a plot of Std(ΔI) vs. D′ for l=50 mm>D. Blackdots—numerical simulation results. Solid line—statistical model resulty=1.9·

10

̂(−17) D′.

FIG. 8 is an embodiment of the present system configured for detectingsubjects inside a vehicle.

FIGS. 9a-b illustrate an embodiment of the system of FIG. 8 mounted in avehicle showing the coverage of the system in a side (FIG. 9a ) and top(FIG. 9b ) views of the vehicle.

FIG. 10 is a graph illustrating the motion detection performance of thepresent system.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The present invention is of a system which can be used to detect thepresence of a subject in an environment or detect changes in anenvironment related to potentially hazardous situations. Specifically,the present invention can be used to detect the presence of subject in avehicle in order to provide a vehicle management system with informationthat can be useful in an event of, for example, an accident. The presentinvention can be used to detect changes in an environment that relate tothe safety and well being of individuals, for example, to detect smokeresulting from a fire in a home.

The principles and operation of the present invention may be betterunderstood with reference to the drawings and accompanying descriptions.

Before explaining at least one embodiment of the invention in detail, itis to be understood that the invention is not limited in its applicationto the details set forth in the following description or exemplified bythe Examples. The invention is capable of other embodiments or of beingpracticed or carried out in various ways. Also, it is to be understoodthat the phraseology and terminology employed herein is for the purposeof description and should not be regarded as limiting.

Approaches for analyzing laser speckle for the purpose of extractingqualitative or quantitative information from a surface of an object areknown in the art. Speckle analysis has been described in conjunctionwith identification of objects (US20080154524); extraction ofphysiological parameters (US20130204112), biometric authentication(US20110026783), and remote sensing of surface vibrations (Bianchi,Applied Optics, Vol. 53, No. 5, 2014).

Typical speckle analysis approaches utilize out-of-focus speckle imagesin order to maximize the amount of information that can be obtained fromthis pattern over time. This is especially true in cases where analysisof a speckle pattern is used for retrieving quantitative informationfrom a surface of an object. In-focus speckle analysis is also known,Bianchi (Ibid) describes a system in which a speckle pattern is focusedonto a single pixel detector (photodiode) for the purpose of detectingremote surface vibrations.

While reducing the present invention to practice, the present inventorshave devised a speckle analysis system which utilizes eye-safe, lowpower light radiation (e.g. class I laser) and unique speckle analysisalgorithms to detect vibrations from a surface of an object or subjectin any environment and in real time. As is further describedhereinbelow, the present system is particularly useful for detecting thepresence of individuals in a confined space such as an automobile or ahome and for detecting environmental hazards such as smoke or anearthquake.

In order to minimize false positives and provide a reliable detection ofsedentary or mobile subjects, the present system is configured fordetecting surface vibrations resulting from a subject's heart beatand/or breathing.

Thus, according to one aspect of the present invention there is provideda system for detecting vibrations from a surface. The present system candetect vibrations from any remote surface at any distance, includingvibrations from inanimate objects and sedentary or mobile subjects suchas humans. As is further described hereinunder, the present system isparticularly useful for detecting ‘physiological vibrations’ (skin orclothing/cover vibrations resulting from heart beat or breathing) fromhumans.

The present system is configured based on the following parameters:

(i) use of a low power light source which projects a non-collimated orcollimated coherent light beam or beams which are eye safe (for example,at 830 nm, a narrow collimated beam is limited by an energy level ofaround 700 μW);

(ii) mapping each speckle field to a unique region of an imaging sensor;and/or

(iii) adjusting the aperture of the collecting lens and the beamdiameter to optimize speckles dynamics detection in the requiredamplitudes range.

The present system can be configured in one of several ways in order toprovide the above functionality and accurately detect surfacevibrations. In a first configuration, the present system includes acoherent light source for projecting a multi-beam pattern onto thesurface. Such a coherent light source can be a class I laser emitting attens of milliwatt, and directed at the diffuser. Each of the multiplebeams exiting the diffuser, must be kept below the eye safety limit forthe emitted wavelength. For example, at 830 nm, the intensity of thezero order beam must not reach 700 μW. The system also includes animaging device such as a photodiode array (e.g. CCD) for mapping aspeckle field generated by each spot formed on the surface by themulti-beam pattern to a unique region of an imaging sensor. Theinformation captured by the imaging sensor (e.g. light intensitychanges) is processed via a processor executing a dedicated algorithm(further described hereinbelow) to derive surface vibration information.

A second configuration of the present system includes a coherent lightsource for projecting a non-collimated beam onto the surface and animaging device for mapping a speckle field generated by a spot formed onthe surface by the non-collimated beam to a unique region of an imagingsensor. A processor executing a dedicated algorithm then derives surfacevibration information from the sensor-captured information.

A third configuration of the present system includes a coherent lightsource for projecting a single collimated beam onto the surface and aphotodiode for capturing a speckle field generated by a spot formed onthe surface by the collimated beam. In this configuration, the processorprocesses speckle field information received by the photodiode to derivesurface vibration information from speckle vibrations at an amplitude of1 μm to 50 cm and a frequency of 1 Hz-100 KHz.

As is mentioned above, the present system employs an algorithm forderiving surface vibration information from changes/shifts in lightintensity on the imaging sensor. The algorithm follows the intensity ofeach spot over time and analyzes its variance. In case of a single spotit analyzes the total intensity collected from that spot, and in case ofmultiple probed spots, the total intensity of each spot is analyzedseparately. It is necessary to differentiate between the variance of thesignal originating from the statistical noise of the sensor and thevariance originating from a shift in the speckles pattern, indicating asurface motion. For this purpose, a threshold level for the variance ispre-determined in such a way that it remains above the noise level atall times. The threshold is not necessarily a constant in time and canhave different values at different external conditions. Once thealgorithm detects an increase in the variance above the threshold levelit indicates a surface motion at the spot under inspection. Thedescribed procedure generates an unfiltered motion detection indicationfor each spot. To further improve the robustness of the system underfalse detections, a number of filters are applied to the motion data.

A temporal filter is used for discarding short-term fluctuations,originating from electronic noise or a momentary acoustical shock of thesystem or environment. Second, in the configuration containing multiplespots, multiple spatial filters are also applied. By analyzing thematrix of motion indications, false detections can be filtered based onobject size (by counting the number of positive indications in a givenblob of the matrix). If the moving object is much smaller than a humanor a pet it is probably generated by a flying bug, or a vibratingcell-phone for example and therefore should not activate a positivedetection. In case of a high resolution matrix, the shape of thedetected moving object is analyzed for additional filtering of falsedetections. For example, when two passengers are seating in the backseat on opposite sides, their motion generates movements of the seatwhich propagate to the empty middle seat. As a consequence, themicro-motion matrix is expected to have randomly positioned dots alongthe area of the central seat. Comparing shape characteristics such asspatial-frequencies components of a Discrete Cosine Transform forexample, or the average radius (distance from center of mass), of arandom pattern with those of a human shape provides an efficient toolfor differentiation between the two. The present approach can be used,alone or in addition to other algorithms, to provide a reliableoccupancy status for the middle seat.

A spatial filter is also used to prevent false detections originatingfrom external noise sources. For example, when a parked car is stronglyvibrated by the wind or rain, all of the spots in the matrix areexpected to provide positive motion indications. When the spatial filtercounts a number of positive indications close to the total number ofspots, it prevents the system from providing a false positive detection.

Referring now to the drawings, FIG. 1 illustrates one embodiment of thepresent system which is referred to herein as system 10.

System 10 includes a laser source 12 emitting a beam 14 at a wavelengthλ. The wavelength can be anywhere from the visible to the shortinfra-red regimes, between 400-2000 nm, depending on the application andsensor type.

Beam 14 is directed via a collimating lens 16 towards a target surface18. Lens 16 collimates the emitted light and projects a collimated beam.The beam diameter at the target surface is determined by the focallength of lens 16.

Beam 14 impinges upon surface 18 and undergoes diffusive scattering. Acollecting lens 20 positioned in front of an imaging sensor 22 (e.g.photodiode or photodiode array) collects backscattered light 24 thatreaches lens 20. Lens 20 is covered with a band-pass filter centered atthe laser wavelength (e.g. 830 nm) in order to reduce capture of ambientlight. Imaging sensor 22 is located close to the imaging plane such thatthe light energy collected by lens 20 is focused on imaging sensor 22.In the setup shown in FIG. 1, the photocurrent is preferablyproportional to the total intensity reaching the aperture of lens 20 andtherefore provides a good indication for the collected speckles totalintensity.

Imaging sensor 22 does not have to be exactly in the imaging plane. Asit is moved away from the focal plane, the size of spot projected uponthe photodiode of imaging sensor 22 increases. Imaging sensor 22 can bemoved (automatically or manually) until the image of the spot covers oneor more photodiodes. This is an important feature for applications wherethe distance between system 10 and the target can vary significantly. Insuch cases, there is no need for re-focusing via lens 20 as long as thespot image is smaller than the photodiode.

The light signal captured by imaging sensor 22 is processed by aprocessor 26 (e.g., a micro-processor such as Amtel ATSAMV71Q21A).

As is described hereinabove, processor 26 executes an algorithmconfigured for analyzing the variations of the light intensity anddetect surface motions.

Based on the processed information, processor 26 determines if surfacevibrations are present and the frequency and amplitude of suchvibrations are estimated. If the vibration parameters have reached thethreshold levels and passed the applied filters, system 10 indicatespresence of a subject to a user via interface 28 which can be a display,an audio device (e.g. speaker) and the like. In some configurations ofsystem 10 interface 28 can be part of a vehicle/home management system.Interface 28 can be wired to processor 26 or communicate therewith via awireless connection (e.g. WiFi, BlueTooth and the like).

The following describes scattered light capture via system 10 in greaterdetail.

The scattered light field presents random speckles pattern with averagespeckle size at aperture of lens 20 of:

$\begin{matrix}{a = \frac{\lambda \; z}{w}} & (1)\end{matrix}$

where w is the beam waist at the target 20 and z is the distance fromthe system to the target.

The speckles field that covers the aperture is integrated by lens 20onto a focused spot on imaging sensor 22. As a result of the surfacevibrations, the speckles pattern projected upon lens 20 varies and thelight intensity (I) reaching imaging sensor 22 fluctuates accordingly.The pattern variations are determined by the motion of the surface underinspection, which can be divided into three types of motions:translations, rotations and deformations. Lateral translations generatea shift of the pattern at the same scale as the motion of the surface.Axial translations vary the scaling of the pattern. According to eq.(1), a vibration amplitude of a few microns over a distance of metershas a very weak affect on scaling. Moreover, since the laser spotdiameter (w) of a collimated beam also scales linearly with z, theeffect of axial vibrations on scaling is further reduced. Surfacerotations translates the pattern by l=2θz as if the surface was areflecting mirror. Since pattern translations due to surface rotationsare amplified by the distance, it has stronger contribution to thespeckles dynamics than both lateral and axial translations.

The last type of surface motion is deformation. Deformation changes thephase distribution of the scattered light and the speckles patternundergoes random variations that resemble boiling water. In the generalcase of surface motion, where all three types of motion occursimultaneously, the speckles dynamics is formed of a combination oftranslations, boiling and scaling.

If the scattering surface is replaced with a transparent cloudy liquid,the scattering particles in the liquid are constantly in motion andtherefore the optical paths of the scattered photons vary in time. Theobserved speckles pattern will therefore be ‘strong boiling’. In thelight of the above phenomenon, the amplitude of fluctuations of thephotocurrent in the system presents a good indicator for surfacevibrations.

A statistical model was constructed to quantitatively determine thedependence of the standard deviation of the light intensity reaching thedetector, Std(I) in view of the different parameters of the system.Pattern translations due to surface rotation were studied (FIG. 2) andthe speckles pattern was modeled with a discrete lattice where each cellhas an equal probability to carry intensity s or 0. The cell length arepresents the average speckles size. Since this description is validfor the range of small speckles (i.e. where the speckles size is smallerthan the lens aperture) the range of large speckles was analyzedseparately. Pattern translation of length l was modeled by a discreteshift of the values in the lattice by l/a steps. For simplicity sake,the lens aperture is assumed to be square in size D. The velocity of thespeckles pattern v resulting from a surface angular velocity ω is givenby v=2ωz. For a given time period between successive data points τ, thetranslation of the pattern is l=2ωzτ.

First, the case of l≥D (i.e. the cells of successive frames areuncorrelated) was examined. The intensity I of a single exposure isrepresented by:

$\begin{matrix}{I = {{\sum\limits_{i = 1}^{N_{s}}I_{i}} = {{\sum\limits_{i = 1}^{N_{s}}{s\left( {p_{i} + \frac{1}{2}} \right)}} = {\frac{{sN}_{s}}{2} + {s{\sum\limits_{i = 1}^{N_{s}}p_{i}}}}}}} & (2)\end{matrix}$

where I_(i) is the power level of cell number i and p_(i)=½ for a cellwith intensity level s and p_(i)=−½ for an empty cell, with an equalprobability. Averaging the intensity over exposures is derived by:

$\begin{matrix}{{\langle I\rangle} = \frac{{sN}_{s}}{2}} & (3)\end{matrix}$

and the average intensity square is derived by:

$\begin{matrix}{{\langle I^{2}\rangle} = {{\langle{\sum\limits_{i = 1}^{N_{s}}{\sum\limits_{j = 1}^{N_{s}}{I_{i}I_{j}}}}\rangle} = {{\langle{\sum\limits_{i = 1}^{N_{s}}{\sum\limits_{j = 1}^{N_{s}}{{s^{2}\left( {p_{i} + \frac{1}{2}} \right)}\left( {p_{j} + \frac{1}{2}} \right)}}}\rangle} = {\frac{s^{2}N_{s}^{2}}{4} + {\frac{s^{2}N_{s}}{4}.}}}}} & (4)\end{matrix}$

This enables to uncover the standard deviation, using:

$\begin{matrix}{{{Std}(I)} = {\frac{s}{2}{\sqrt{N_{s}}.}}} & (5)\end{matrix}$

Introducing the number of speckles N_(s)=(D/a)² results in:

$\begin{matrix}{{{{Std}(I)} = {{\frac{s}{2}\left( \frac{D}{a} \right)} = {{\frac{s}{2}\; {\mspace{11mu} \;}{for}\mspace{14mu} l} > D}}};{\mspace{11mu} > 1.}} & (6)\end{matrix}$

where the normalized aperture diameter {acute over (D)} was introduced.

The case of slower pattern translations was examined at l<D. In thiscase, a fraction of the cells is common to pairs of successive framesand only lD/a² cells are replaced (as is shown in FIG. 2, l/a rows enterthe lens surface from the right and all the other cells are found inboth frames). To emphasize the correlation between successive frames thestandard deviation of ΔI^(i)=I^(i)−I^(i−1) was inspected (thesuperscript i represents the frame number i).

Calculating the average of ΔI^(i) over frames one obtains:

$\begin{matrix}{{\langle{\Delta \; I}\rangle} = {{\sum\limits_{j = 1}^{N_{s}}{\langle{I_{j}^{i} - I_{j}^{i - 1}}\rangle}} = {{\sum\limits_{j = 1}^{{lD}/a^{2}}{\langle{I_{j}^{i - 1} - I_{j}^{i}}\rangle}} = 0}}} & (7)\end{matrix}$

The average of (ΔI)² is given by

$\begin{matrix}{{\langle\left( {\Delta \; I} \right)^{2}\rangle} = {{\langle{\sum\limits_{j = 1}^{{lD}/a^{2}}{\sum\limits_{k = 1}^{{lD}/a^{2}}{\left( {I_{j}^{i} - I_{j}^{i - 1}} \right)\left( {I_{k}^{i} - I_{k}^{i - 1}} \right)}}}\rangle} = {\frac{s^{2}}{2}\frac{lD}{a^{2}}}}} & (8)\end{matrix}$

and hence

$\begin{matrix}{{{Std}\left( {\Delta \; I} \right)} = {{\frac{s}{\sqrt{2}}\sqrt{\frac{l}{a}}{\mspace{11mu} \;}{for}\mspace{14mu} D} > {l.}}} & (9)\end{matrix}$

Replacing the upper limits of the summations in eq. (8) one obtains:

$\begin{matrix}{{{Std}\left( {\Delta \; I} \right)} = {{\frac{s}{\sqrt{2}}{\; \;}{for}\mspace{14mu} l} > {D.}}} & (10)\end{matrix}$

Using the relation Std(ΔI)=√{square root over (2)}Std(I) derives thefollowing:

$\begin{matrix}{{{Std}(I)} = {{\frac{s}{2}\sqrt{\left( {l/a} \right)}{\mspace{11mu} \;}{for}\mspace{14mu} } > 1.}} & (11)\end{matrix}$

Next, the range of {acute over (D)}<1 is considered. To model the systemunder this condition, the aperture size was set a single lattice cell.The speckles in size a>D are represented by squares in the pattern inthe size of n² cells containing equal intensity. Since only a fractionof each speckle is captured by the lens, an effective intensityamplitude s_(eff)=s{acute over (D)}² replaces the speckles amplitude s.For the case of l<a the total intensity is constant along a/l frames.Therefore, averaging over N>>a/l frames results in:

〈 ( Δ   I ) 2 〉 = 1 N  ∑ i = 1 N  ( I i - I i - 1 ) 2 = l 2  a s eff 2 . ( 12 ) Std  ( I ) = l / a  s eff 2 = s 2  l / a   2   for   a > l ; 1 > . ( 13 )

For l>a the speckles projected upon the lens aperture vary every frameand therefore:

Std  ( I ) = s 2   2    for   l > a ; 1 > . ( 14 )

The deviations of the light intensity from the average value indicatesurface vibrations and is therefore considered as the signal. Therelation between the total light intensity reaching the detector(imaging sensor) and the signal level I_(s) is linear:

I_(s)=βI   (15)

where the pre-factor β also includes the intensity loss caused by thevarious optical surfaces in the imaging portion of the present system.To evaluate the sensitivity of the system, this signal was compared withthe fluctuations of the signal resulting from various noise sources. Itis therefore desired to set the system parameters in a way that willmaximize signal to noise ratio (SNR). For example, in the case of anunamplified photodiode the noise can be modeled as follows:

I _(N) =I _(τ)+α√{square root over (I _(s))}  (16)

I_(τ) is the thermal noise, and α√{square root over (I_(s))}| is theshot noise.

In the case of large pattern amplitudes where l>D one obtains:

SNR = Std  ( I s ) I N = β  ( s / 2 )  2 I τ + α  β   s / 2   for   l > a ; 1 > ( 17 ) SNR = β  ( s / 2 )  I τ + α  β   s / 2   for   l > D ;  > 1. ( 18 )

In this case the SNR is a monotonously increasing function of {graveover (D)} such that the more speckles collected by the lens the higherthe SNR. However, the SNR has an asymptotic limit of √{square root over(βs/2)}/α. For this reason, increasing the aperture over a certain levelwill have a negligible contribution to the SNR. To the first order for{acute over (D)}>>I_(τ)/α√{square root over (s)}, the deviation of theSNR from the asymptotic limit is:

$\begin{matrix}{{SNR} \simeq {\frac{\sqrt{\beta \; {s/2}}}{\alpha} - \frac{I_{\tau}}{\alpha^{2}}}} & (19)\end{matrix}$

If, for example, it is required to reach 80% of the SNR limit, eq. (19)shows that {grave over (D)} has to satisfy:

80 = 5  l τ α  β   s / 2 ( 20 )

Next, the case of small amplitude vibrations is analyzed where l<D. Inthis case the SNR is given by:

SNR = β  ( s / 2 )  l / a  2 I τ + α  β   s / 2    for   l <a ; 1 > ( 21 ) SNR = β  ( s / 2 )  ( l / a )  I τ + α  β   s / 2   for   l < D ; > 1. ( 22 )

Here the SNR has a global maxima at

T = I τ α  β   s / 2 .

Note that although the SNR does depend on the value of l, the optimalaperture diameter does not. This property is significant in practicalapplications where the vibration amplitude or frequency and hence lmight change over time. Since {acute over (D)}_(T) is independent of l,calibrating the aperture to the optimal diameter ensures that the signalwill remain optimal in the whole range of D>l>0.

FIG. 3 is a plot of the SNR vs. {grave over (D)} for D>l, note that forthe selected set of parameters in this example the optimal SNR isreached at D=a. In a case where the target vibrations are expected togenerate amplitudes in both the D>l and l>D regimes, the optimalaperture should be selected with accordance to the tradeoff between alarge aperture which maximizes the SNR at large amplitudes and the smallaperture for the small amplitudes regime.

In cases where the vibrating surface undergoes deformations the specklespattern changes over time. One way to quantify the extent of change inthe pattern is by calculating the correlation coefficients betweensuccessive frames. On average, the normalized coefficients vary betweenone, in a case where no changes occurred in the pattern, to zero wherethe pattern has completely changed. To apply the statistical model onthe boiling effect, a random change of intensity is performed in Nrandom cells of the lattice. The new intensity level of each of the Ncells is randomly set to 0 or s, regardless of the previous intensity ofthat cell. The parameter N controls the variation level of the patternand therefore the decrease in the correlation coefficients. Thecorrelation coefficient of frames i and i−1 is defined as follows:

$\begin{matrix}{C^{i} = {\frac{\sum\limits_{j = 1}^{N_{s}}{\left( {I_{j}^{i} - {\langle I^{i}\rangle}} \right)\left( {I_{j}^{i - 1} - {\langle I^{i - 1}\rangle}} \right)}}{\sqrt{\sum\limits_{j = 1}^{N_{s}}\left( {I_{j}^{i} - {\langle I^{i}\rangle}} \right)^{2}}\sqrt{\sum\limits_{j = 1}^{N_{s}}\left( {I_{j}^{i - 1} - {\langle I^{i - 1}\rangle}} \right)^{2}}}.}} & (23)\end{matrix}$

To find the relation between the correlation coefficients and N, C=

C^(i)

is calculated for the case of N-replaced cells. The average standarddeviation of the intensities is independent of cells replacement as longas the probability distribution remains the same. Therefore averagingthe correlation coefficients provides:

$\begin{matrix}{C = {\frac{\langle{\sum\limits_{j = 1}^{N_{s}}{\left( {I_{j}^{i} - {\langle I^{i}\rangle}} \right)\left( {I_{j}^{i - 1} - {\langle I^{i - 1}\rangle}} \right)}}\rangle}{\sqrt{\sum\limits_{j = 1}^{N_{s}}\left( {I_{j}^{i} - {\langle I^{i}\rangle}} \right)^{2}}\sqrt{\sum\limits_{j = 1}^{N_{s}}\left( {I_{j}^{i - 1} - {\langle I^{i - 1}\rangle}} \right)^{2}}} = {\frac{N_{s} - N}{N_{s}} = {1 - n}}}} & (24)\end{matrix}$

where the normalized parameter n=N/N_(s) was introduced. Eq. (24)provides a useful transformation from the model parameter n to themeasurable quantity C.

Next the standard deviation of ΔI is calculated for the case of Nreplaced cells:

$\begin{matrix}{{\langle\left( {\Delta \; I} \right)^{2}\rangle} = {{\langle{\sum\limits_{j = 1}^{N}{\sum\limits_{k = 1}^{N}{\left( {I_{j}^{i} - I_{j}^{i - 1}} \right)\left( {I_{k}^{i} - I_{k}^{i - 1}} \right)}}}\rangle} = {\frac{s^{2}}{2}N}}} & (25)\end{matrix}$

and therefore

$\begin{matrix}{{{Std}\left( {\Delta \; I} \right)} = {{\frac{s}{\sqrt{2}}\sqrt{n}}\; = {\frac{s}{\sqrt{2}}\sqrt{1 - C}{\; \;}}}} & (26)\end{matrix}$

The response of the system to a boiling pattern is similar to itsresponse to translations. In the case of strong boiling, where C→0,Std(ΔI) and therefore the SNR is exactly the same as in the case oftranslation with l>D (eq. (10)). When the translation is larger than D,successive frames are uncorrelated. An important consequence is thatthere is an upper boundary to the sum of contributions from thetranslations and boiling to the signal. For partially correlated frameswhere 1>C>0 the SNR for boiling speckles is found by introducing thepre-factor from eq. (26) in the numerator of eq. (18):

$\begin{matrix}{{SNR} = \frac{\beta \; {s/2}\sqrt{1 - C}}{I_{\tau} + {\alpha \sqrt{\beta \; {s/2}}}}} & (27)\end{matrix}$

Finally, the general case of a combination of translations and boilingis analyzed. In this case the number of replaced cells is given by thesum of contributions from both effects:

$\begin{matrix}{N = {\frac{lD}{a^{2}} + {\frac{D\left( {D - l} \right)}{a^{2}}n}}} & (28)\end{matrix}$

Substituting N in the expression for standard deviation in eq. (9) oneobtains:

$\begin{matrix}{{{{Std}\left( {\Delta \; I} \right)} = {{\frac{s}{\sqrt{2}}\sqrt{{\left( {l/a} \right)} + {n\left( {- \left( {l/a} \right)} \right)}}} = {\frac{s}{\sqrt{2}}\sqrt{\left( {{n} + f} \right)^{2} - f^{2}}}}}\mspace{20mu} {{{where}\mspace{14mu} f} = {\frac{l}{2{an}}{\left( {1 - n} \right).}}}} & (29)\end{matrix}$

The maximal value of the signal is obtained when l=D or n=1, as expectedfrom the analysis for translations and boiling. Dividing the standarddeviation by the noise one obtains:

$\begin{matrix}{{SNR} = \frac{{s/2}\beta \sqrt{\left( {{n} + {f(n)}} \right)^{2} - {f^{2}(n)}}}{I_{\tau} + {\alpha \sqrt{\beta \; {s/2}}}}} & (30)\end{matrix}$

The global maxima in this case is found at

T , B = I τ α  β   s / 2 - nI τ  f - 1 .

Comparing {acute over (D)}_(T,B) to {acute over (D)}_(T) uncovers thatthe addition of boiling increases the optimal aperture. In the range ofweak boiling where n²<<l/a the following applies:

{acute over (D)} _(T,B) ≅{acute over (D)} _(T) +nf ⁻¹ ≅{acute over (D)}_(T)+(2a/l)n ² ={acute over (D)} _(T)+(2a/l)(1−C)².   (31)

The second term on the right-hand side, of eq. (31), (2a/l)(1−C)² _(,)mixes the contribution from boiling with the contribution fromtranslations. This indicates that in the presence of boiling the optimalaperture size depends on the translation l.

To test the validity of the results obtained from the statistical modela numerical simulation of the system was constructed. The speckles fieldis calculated using the Rayleigh-Sommerfeld diffraction formula:

$\begin{matrix}{{U\left( {x,y} \right)} = {\frac{z}{i\; \lambda}{\int{\int_{\sum}{e^{i\; {\Phi {({\xi,\eta})}}}\frac{e^{{ikr}_{01}}}{r_{01}^{2}}\ d\; \xi \; d\; \eta}}}}} & (32)\end{matrix}$

where r₀₁=√{square root over (z²+(x−ξ)²+(y−η)²)} and Φ(ξ, η) is thephase shift distribution of the reflected field which determined by thesurface structure.

In the numerical evaluation of the integral, the parameters were chosento be λ=830 nm, z=1 m, and w=0.5 mm. The phase distribution was modeledby a large number of Gaussians with a waist of 1 μm randomly distributedover the integration domain Σ (see FIG. 4). A speckles field over aregion of 1 m×30 mm at a resolution of 0.5 mm was calculated to providea large database for averaging. The average speckle size on the plane ofthe lens aperture is a=2 mm. Lens 20 is simulated by a circular regionthat is shifted along the generated pattern to address the specklestranslations (FIG. 5). In each step the intensity within the circularregion was integrated to represent the light intensity reaching imagingsensor 22 at that particular data point.

The aperture of lens 20 was varied between 0.5 mm and 30 mm, where foreach aperture the pattern is imaged with a step of l=a=2 mm betweensuccessive frames. The results are shown in FIGS. 6A-B. To compare thesimulation results with the mathematical model the parameter s isevaluated by the relation

〈 I 〉 = s 2  2

where <I> was estimated by the mean intensity over a region of thecalculated speckles field. It was found that s=2.65·10⁻¹⁷. Substitutingl=a in eq. (9) shows that the pre-factor of √{square root over ({graveover (D)})} is s/√{square root over (2)}=1.87·10⁻¹⁷. This is comparablewith the curve shown in FIG. 6 with a pre-factor of 1.79·10⁻¹⁷.

The same procedure was repeated for l=50 mm which lies in the l>Dregime. As is shown in FIG. 7, Std(ΔI) agrees with the linear relationof eq. (6) with a pre-factor of 1.9·10⁻¹⁷. According to eq. (10) thepre-factor is to be compared with s/√{square root over (2)}=1.87·10⁻¹⁷.The excellent agreement between the statistical model and the numericalanalysis supports the validity of the results obtained from the modelconstructed herein.

System 10 and the vibration detection algorithm described hereinabovecan be configured for use in a variety of applications.

For example, system 10 can be configured for detecting the presence ofsubjects in a vehicle. Such a system can be used in private cars andpublic transportation vehicles to prevent the driver from locking thevehicle in case an occupant is present (e.g. baby).

Positioned at the center of the ceiling of a sedan car, the distance tothe different seats is typically between 0.5 m and 1.5 m. This is theexpected range for the values of z. Since the signal drops with z, it ispreferred to optimize the system for the higher values of z, i.e. forz=1.5 m. A near IR laser diode, emitting at 830 nm for example, ispreferred for such a use case since it's both invisible to the humaneyes (and therefore does not disturb the passengers) and detectable bystandard CMOS or CCD sensors. A collimating lens with 1 mm focal lengthwill generate a beam waist of close to 1 mm and with a convergence angleof around 1 mrad. In this case the generated spot has a diameter w of2.5 mm at 1.5 m. In order for the pattern to cover both the front andback seats a large divergence angle of above 120 degrees is requiredfrom the projected pattern. Since typical DOEs can reach only around 40degrees of divergence, splitting the beam into two or four beams, beforeit reaches the DOE is required. A different diffuser is placed in frontof each of the beams to project the patterns onto the different seats. Astandard CMOS detector can be used for sensing. The sensor resolution isnot required to reach more than about 4 times the resolution of thepattern. Therefore, a low resolution sensor of 640×480 pixels issufficient for most applications. A collecting lens with a wide-angle isrequired to cover a field of view of around 140 deg in both axes. Aband-pass optical filter is positioned in front of the camera to blockambient light and allow the system to provide good performance indifferent lighting conditions. In order to optimize the SNR for anysystem the relevant equations out of 17-18, 21-22, 27, 30 are to used todetermine the lens aperture D. The parameters α, β, I_(s) needs to bemeasured for the specific sensor and optical elements in a setup. Thespeckles size s can be found from eq. (1). In the current example s=0.5mm. In the discussed use-case, one should expect to have variousspeckles dynamic modes. Large-amplitude translations resulting frommoving passengers and small-amplitude translations generated by thebreathing and heart-beats of static passengers (sleeping for example).In addition, when using a near infra-red wavelength boiling is alsoexpected to occur at spots that shine the naked skin on the face orarms. The different modes must be taken into account where choosing therelevant equations for optimizing the system. In this case, the tradeoffis between eq. (27, 30) describing boiling speckles and eq. (17-18,21-22) representing moving speckles. Another degree of freedom in thesystem is the spot diameter, which is determined by the collimating lensand the laser diode. Varying the focal length can bring the systemcloser to the optimum instead or in addition to the control over thelens aperture.

A vehicle-specific system can be installed in the vehicle ceiling (forexample near the passengers lights and the air conditioner opening, orabove the passageway) above each seat and aimed towards the center ofthe seat (see FIGS. 9a-b ), the sensor will detect the presence of apassenger based on the vibrations of his clothes. In case the IR laserhits the naked skin, it penetrates into the blood where it is scatteredand the resulting speckles pattern is strongly ‘boiling’. Adjusting thesensor parameters accordingly enables measuring of strong signals fromboth the clothes and the skin.

The approach of measuring micro-vibrations to detect human presence astaught by the present invention is highly accurate and reliable andenables automatic filtering-out of vibration of the vehicle (caused bydriving or external sources such as wind, rain, passing vehicles etc.).The latter is due to the fact that system 10 is fixedly attached to thevehicle and vibrates therewith and as such, it will only measure motionrelative to the sensor and not measure any motion of surfaces notoccupied by passengers.

In contrast, prior art approach for detecting human presence viaacoustical microphones are negatively affected by ambient sounds whichcan be orders of magnitudes higher than that generated by a subject(especially when sleeping). In addition, ambient sounds are diverse andcompletely unpredictable. Therefore the approach of acoustical detectionof humans in a vehicle is not practical for sleeping passengers.

Another unique feature of the present system is the ability to detectpresence of subjects even when covered (with a blanket or a hat coveringthe face). Since micro-vibrations are carried from the body to thecover, detection of cover vibration in a physiological range indicatespresence of a subject. This feature cannot be provided by detectionsystems that employ computer vision sensors, where the shape of the bodyor face is searched in the images, and a covered person is completelyundetectable.

FIG. 8 illustrates one embodiment of system 10 which can be used fordetection of driver/passengers in a vehicle.

System 10 includes a laser light source 12 fitted with a diffractiongrating 26. Grating 26, which is also referred to herein as DOE(diffractive optical element), splits beam 14 into a diffraction pattern15 that is approximately determined by the Fourier Transform of grating26. For example, a pattern of dots positioned along a line is generatedby a grating with the shape of a comb.

Using an appropriate DOE, pattern 15 projected onto target 18 (e.g. skinor clothes of passenger) is a two-dimensional matrix of laser spots 17.Projected matrix 17 is selected such that it covers the entire field ofview of imaging sensor (CCD or CMOS) when collected by lens 20 whilemaintaining a cell length smaller than the smallest object to bemonitored. The cell length is the product of the distance to the targetand the angular separation of adjacent the dots in the matrix,determined by the structure of the DOE.

Lens 20 collects a focused image of the scene and projects it ontosensor 22. The spot size on the image plane is given by Mw, where w isthe spot size on the object and M is the magnification of the imaginglens. The size of each matrix spot should cover one or a few pixels,such that Mw≅p, where p is the pixel size. The image of each spotrepresents the total intensity scattered from the corresponding regionon the target and collected by lens 20. Therefore, the total intensityof each spot in the image can be replaced with the photocurrent obtainedfrom imaging sensor 22 as is describe above with respect to FIG. 1.

In the embodiment of FIG. 8, the frames captured by sensor 22 containdata from multiple spots projected onto target 18. The standarddeviations of the intensity in each pixel containing a matrix spotrepresents the vibrations at this point. A simple algorithm thatcalculates the standard deviations of a stack of frames and compares theresults with a pre-defined threshold can provide the vibrationsdetection. For example, the threshold can be set to be equal three timesthe noise level. Calibrating the system against a static target allowsmeasuring the average standard deviation originated by the sensor noisealone. This value can be used for an estimation of the noise level, andtherefore for the threshold.

The aperture of lens 20 as well as other system parameters such as thefocal length of lens 16 and the pixel size on the sensor are selectedsuitable for vehicle detection of passengers, as described in theexample above.

The light signal captured by imaging sensor 22 is processed by aprocessor 26 (e.g., a micro-processor such as Amtel ATSAMV71Q21A).

Processor 26 executes an algorithm configured for vehicle detection ofpassengers, using the principles described above.

Based on the processed information, processor 26 determines ifpassengers are present, the number of passengers and their state(awake/asleep). This information is relayed (wired or wirelessly) avehicle management system 28 which utilizes the information for varioussafety applications such as airbag suppression, airbag deploymentoptimization, unbuckled seat-belt warning, etc.

System 10 shown in FIG. 8 can be installed in any vehicle having anyinternal volume including passenger cars and public transport vehiclessuch as trains and busses.

FIGS. 9a-b illustrate a vehicle (van) fitted with two units of system 10installed against the roof liner of the vehicle. A private vehicle(sedan) can be covered via a single unit of system 10 mounted againstthe roof liner.

These units of system 10 cover all passenger seats 34 in the vehiclewith a matrix of laser dots separated by ˜15 cm and employ a lens 20with the appropriate field of view (e.g. around 140 deg diagonal,depending on the specific car model) to enable collection of specklesfields projected from passengers occupying some or all of seats 34.

Such an installation of system 10 ensures reliable detection of sleepingor awake passengers, covered or exposed, within the whole volume of thecar.

System 10 is particularly useful for detecting babies in a car. In hotweather, baby seats can be covered by a canopy to block sunlightexposure. The vibrations generated by the baby's breathings and heartbeat are transferred through the baby seat to the canopy and aredetectable by system 10.

System 10 can also be used to detect presence of subject in non-vehicleenvironments including homes, offices, outdoor venues and the like. Suchdetection can have a variety of applications.

Automatic power switches are used to turn the lights and air conditioneroff in offices when they are left empty. System 10 can be used to scan aroom and provide an indication for such a switch.

System 10 can also be used for actuating automatic doors which open whenan approaching human is detected or for actuating elevator doors.

System 10 can also be used to differentiate between humans and objects.For example, a system 10 that detects the presence of passengers invarious seats in a car and monitors the status of each seat belt can beused to remind passengers to buckle their seat belt.

The present system can also be configured for detecting a hazard in anenvironment. For example, a hazard that can potentially be deleteriousto humans or animals such as fire. A system 10 setup positioned on theceiling of a standard room (16 m²) with a wide angle lens can cover theentire room. Splitting the emitted beam with one or two glassbeam-splitters and positioning a DOE in front of each beam, generates apattern wide enough to cover the whole room as well. The scattering ofthe projected light by smoke particles generates boiling effect in thespeckles pattern. The boiling intensity, that is, the rate of the randomchange of the speckles, is determined by the type and density of thesmoke particles. Equations 27 and 30 provide the signal level for allthe range of boiling intensity and there the optimal system parametersfor smoke detection can be found. The first layer of the smoke detectionalgorithm is similar to the human detection algorithm. The standarddeviation of each spot is compared with a pre-determined threshold toprovide a micro-motion layer indicating which spot is scattered by smoke(or a moving surface) and which does not. The second algorithmic layeris applied on the micro-motion layer, and mainly aimed to differentiatesmoke from moving surfaced. Both temporal and spatial filters areapplied for that purpose. The temporal filter is applied on each spotseparately and is aimed to reveal patterns which are unique for smokedynamics. The spatial filter utilizes a number of the characteristics ofsmoke. First, the volume containing the smoke both moves and expandswith time as smoke is generated. Second, smoke climbs upwards in aclosed room or sucked towards the openings in an open room. Therefore,the micro-motion layer is expected to show similar dynamics when smokeis present in the probed room. Note that both examples of smoke dynamicsare unique for smoke and are not expected to occur by the presence ofpersons. A system calibration after installation in a room adds anotherlayer of protection. Depending on the specific room, there are usually afinite number of positions where fire is likely to occur (e.g.electrical sockets). Marking the high-risk positions in the frameimproves the algorithm by allowing it to give higher weight fordetections in one of the volumes around each position, when analyzingthe situation in the room.

As used herein the term “about” refers to ±10%.

Additional objects, advantages, and novel features of the presentinvention will become apparent to one ordinarily skilled in the art uponexamination of the following examples, which are not intended to belimiting.

EXAMPLES

Reference is now made to the following examples, which together with theabove descriptions, illustrate the invention in a non limiting fashion.

Motion Detection Performance

A prototype system was assembled based on an Aptina MT9V034 monochromeCMOS sensor. A lens with a focal length of 6 mm and an F# of 1.8 wasused for imaging. The video feed from the sensor was captured on apersonal computer via a USB cable at 60 Hz. The projected pattern wasgenerated with a laser diode emitting at 532 nm and a collimating lenswith a focal length of 2 mm. Since the imaging lens has a fixedaperture, to control {acute over (D)} the collimating lens was shiftedalong the optical axis to change the beam convergence angle andtherefore the spot size on the target. A three-axis stage was positionedin front of the system 1 meter away. A step motor with an accuracy of300 nm was attached to the stage and controlled via a computer. Themotor steps generate an axial motion. Axial motion was not detected atall by the system since the speckles pattern is insensitive to suchmotion. To generate a surface tilt, a paper tape was stretched betweenthe stage and the basis, such that the paper was slightly tilted withthe motion of the stage, with a negligible deformation of the paper(<0.1%). The resulting tilt angle α generated by a motor step of 1 μm isα<50 μRad. The motor was programmed to perform steps in one directionwith amplitudes between 1 μm and 0.5 mm. The recorded frames wereanalyzed with the described algorithm and generated a motion-detectionsignal.

The results for a step size of 1 μm at a frequency of 2 Hz are shown inFIG. 10. A clear detection of the micro-motions was observed for stepsin all the range; the SNR was between 5 and 10 for all the measurements.Next the system was tested on a static human. The laser spot was aimedat different parts of the target body. While the target remains asstatic as possible, a video feed was recorded for each position. It wasfound that strong micro-motion signal was detected from all of thedifferent body parts, including the hands, legs and feet. Moreover,strong signal was obtained from the seat itself the target was sittingon. When the target positioned his hands on the table in front of him,strong signals were detected from the whole area of the table surface.Next, A DOE was positioned in front of the emitted beam to provide apattern of a rectangular lattice of 5×5 dots with a separation angle of8 degrees in both axes. The different system components where assembledon a rigid surface and a band-pass optical filter was positioned infront of the system to block ambient light. The system was attached on ametal bar that was positioned between the floor and ceiling of a sedancar. Using a fish-eye lens (around 160 degrees diagonal) for imaging thewhole cabin was covered by the system. Passengers were seated in thedifferent seats and the projected pattern was aimed towards all 5 seatsto collect data. The micro-motion signals from empty and occupied seatswere compared for system evaluation. The results show large differencebetween the signal level of occupied seats and empty seats as long asthe passengers are static. When a passenger is moving on the back seat,motion signals are received from the whole seat. To prevent falsepositive detections an additional algorithmic layer is required. Forexample, an algorithm was applied to the video feeds and enabled todifferentiate between a single passenger that moves the whole seat and aseat containing two passengers. Another test was performed in a car witha baby that was seated in a baby seat. Two different baby seats werepositioned in the passenger seat and in the back seat in forward-facingand backward-facing positions. A 5 months old baby was seated indifferent positions with the sun-shade of the baby-seat pulled down toprevent a line-of-sight with the baby. It was found that a while thebaby was moving inside the seat strong micro-motion signals weredetected from the baby seat itself and from the back seat of the car.When a sleeping baby was monitored, strong signals were received fromdifferent spots on the baby seat, allowing the detection of presence. Anadditional test was performed to verify the robustness of the systemagainst vibrations of the car from external sources such as wind, rain,passing vehicles etc. For that purpose the sensor monitored the cabinwhile the car was strongly shaken from the outside. Since the sensor wasstrongly attached to the body of the car it moved along with it anddetected only little relative motion with the seats. The signalsarriving from empty seats of a shaking car were lower than thoseoriginated by occupied seats, allowing the system to differentiatebetween the two scenarios and provide reliable occupancy indications foreach seat separately.

A different test was performed to evaluate the capability of the systemto detect cigarette smoke. The system was positioned in a closed room indistanced 1 m away from a burning cigarette. The video feed was recordedwhile the collimating lens was scanned along the optical axis to varythe speckles size. It was found that the effect of the smoke on thespeckles pattern is detectible by the present system.

It is appreciated that certain features of the invention, which are, forclarity, described in the context of separate embodiments, may also beprovided in combination in a single embodiment. Conversely, variousfeatures of the invention, which are, for brevity, described in thecontext of a single embodiment, may also be provided separately or inany suitable subcombination.

Although the invention has been described in conjunction with specificembodiments thereof, it is evident that many alternatives, modificationsand variations will be apparent to those skilled in the art.Accordingly, it is intended to embrace all such alternatives,modifications and variations that fall within the spirit and broad scopeof the appended claims. All publications, patents and patentapplications mentioned in this specification are herein incorporated intheir entirety by reference into the specification, to the same extentas if each individual publication, patent or patent application wasspecifically and individually indicated to be incorporated herein byreference. In addition, citation or identification of any reference inthis application shall not be construed as an admission that suchreference is available as prior art to the present invention.

What is claimed is:
 1. A system adapted for monitoring a passengercompartment of a vehicle, comprising: an image sensor adapted to detectinfra-red light; a processor; a wide angle lens mounted in front of theimage sensor and having a wide field of view; and a mount adapted toconnect the image sensor and the wide angle lens to the passengercompartment such that the wide field of view covers at least part ofeach of a plurality of seats in the passenger compartment so as to allowdetecting at least one human parameter in each of the plurality ofseats; wherein the processor adapted to detect the at least one humanparameter of the human in each of the plurality of seats based on ananalysis of outputs of the image sensor.
 2. The system of claim 1,wherein the processor adapted to detect a presence or an absence of thehuman in each of the plurality of seats based on an analysis of outputsof the image sensor.
 3. The system of claim 1, wherein analysis isincludes analysis of vibrations detected in areas covering the pluralityof seats.
 4. The system of claim 1, wherein the mount is adapted toconnected to a reflecting mirror of the vehicle.
 5. The system of claim1, wherein the at least one human parameter comprises a member of agroup consisting of occupancy, mass, age, height, pose, and gazedirection.
 6. The system of claim 1, further comprising a front upperconsole connected to the mount.
 7. The system of claim 1, wherein theprocessor is further adapted to extract a depth map from the outputs;wherein the at least one human parameter is detected using the depthmap.
 8. The system of claim 1, wherein the wide field of view of atleast 140 degrees diagonal.
 9. The system of claim 1, wherein theplurality of seats are all of the seats of the passenger compartment.10. The system of claim 1, further comprising a coherent light sourcefor projecting a light pattern onto each of the plurality of seats;wherein the processor is further adapted to extract parameters based onan analysis of the light pattern in the outputs of the image sensor. 11.The system of claim 10, wherein said coherent light source projects aplurality of beams at a light wavelength longer than 650 nm.
 12. Thesystem of claim 1, wherein the processor is further adapted to extractparameters based on an analysis of speckle field information from theoutputs of the image sensor to detect heart beat and/or breathing of atleast one passenger seated in the plurality of seats.
 13. The system ofclaim 12, wherein the speckle field information is derived by mapping aspeckle field generated by a spot formed on by a coherent light source.14. The system of claim 1, wherein the wide angle lens is a fish-eyelens.
 15. A method for monitoring a passenger compartment of a vehicle,comprising: capturing infra-red light reflected from a plurality ofseats in the passenger compartment, the infra-red light is capturedusing an image sensor having wide angle lens and physically mounted onthe passenger compartment such that a wide field of view of the wideangle lens covers at least part of each of a plurality of seats in thepassenger compartment; and detecting at least one human parameter ineach of the plurality of seats by an analysis of outputs of the imagesensor.
 16. The method of claim 15, wherein the infra-red light isreflected from a plurality of different spots projected on each of theplurality of seats.
 17. The method of claim 15, further comprisingprojecting a light pattern onto each of the plurality of seats; whereinthe detecting is based on parameters extracted from an analysis of thelight pattern in the outputs of the image sensor.
 18. A computer productfor monitoring a passenger compartment of a vehicle, comprising: a nontransitory computer readable storage medium storing program instructionsfor: capturing infra-red light reflected from a plurality of seats inthe passenger compartment, the infra-red light is captured using animage sensor having wide angle lens and physically mounted on thepassenger compartment such that a wide field of view of the wide anglelens covers at least part of each of a plurality of seats in thepassenger compartment; and detecting at least one human parameter ineach of the plurality of seats by an analysis of outputs of the imagesensor.